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Research Paper
Spatial Heatmap Representations for Few-Shot Manipulation
A technical validation record for preserving spatial structure across vision, language and action in FAM.
Published March 5, 2026Updated June 15, 2026
FAMSpatial RepresentationFew-Shot Learning
Research question
Can spatial structure be preserved more directly than a compressed one-dimensional representation while retaining an end-to-end manipulation policy?
Approach
FAM aligns visual, language and action information through two-dimensional and three-dimensional heatmap representations. The representation exposes task-relevant keypoints, object relationships and motion cues.
Evaluation
The evaluation framework includes RLBench, peg insertion, drawer opening, lighting variation, background interference and obstacle interference. Every published metric should link to its task subset, software version and sample count.